Changed testing to use matrix combinations

Signed-off-by: Saurabh Kamat <[email protected]>

.github/workflows/test.yml

@@ -2,53 +2,48 @@ name: 'Test setup-gazebo'
 on:
   workflow_dispatch:
 jobs:
-  test_linux_harmonic:
+  test_gazebo_install_ubuntu:
+    name: 'Check installation of Gazebo on Ubuntu'
     runs-on: ubuntu-latest
     container:
-      image: ubuntu:22.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: actions/checkout@v4
-      - name: 'Install Gazebo Harmonic in Linux runner'
-        uses: ./
-        with:
-          required-gazebo-distributions: harmonic
-      - name: 'Check Gazebo installation'
-        run: gz sim --versions
-  test_linux_citadel_fortress:
-    runs-on: ubuntu-latest
-    container:
-      image: ubuntu:20.04
+      image: ${{ matrix.docker_image }}
     strategy:
       fail-fast: false
       matrix:
         gazebo_distribution:
           - citadel
           - fortress
+          - garden
+          - harmonic
+        include:
+          # Gazebo Citadel (Dec 2019 - Dec 2024)
+          - docker_image: ubuntu:focal
+            gazebo_distribution: citadel
+            gazebo_version: ign
+
+          # Gazebo Fortress (Sep 2021 - Sep 2026)
+          - docker_image: ubuntu:focal
+            gazebo_distribution: fortress
+            gazebo_version: ign
+
+          # Gazebo Garden (Sep 2022 - Nov 2024)
+          - docker_image: ubuntu:focal
+            gazebo_distribution: garden
+            gazebo_version: gz
+
+          # Gazebo Harmonic (Sep 2023 - Sep 2028)
+          - docker_image: ubuntu:jammy
+            gazebo_distribution: harmonic
+            gazebo_version: gz
     steps:
       - uses: actions/checkout@v4
-      - name: 'Install Gazebo in Linux runners'
-        uses: ./
+      - uses: actions/[email protected]
         with:
-          required-gazebo-distributions: ${{ matrix.gazebo_distribution }}
-      - name: 'Check Gazebo installation'
-        run: ign gazebo --versions
-  test_linux_garden:
-    runs-on: ubuntu-latest
-    container:
-      image: ${{ matrix.docker_image }}
-    strategy:
-      fail-fast: false
-      matrix:
-        docker_image:
-          - ubuntu:20.04
-          - ubuntu:22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: 'Install Gazebo Garden in Linux runners'
-        uses: ./
+          node-version: "20.x"
+      - uses: ./
         with:
-          required-gazebo-distributions: garden
-      - name: 'Check Gazebo installation'
-        run: gz sim --versions
+          required-gazebo-distributions: ${{ matrix.gazebo_distribution }}
+      - run: ign gazebo --versions
+        if: matrix.gazebo_version == 'ign'
+      - run: gz sim --versions
+        if: matrix.gazebo_version == 'gz'